Required configuration

ardware

According to the ArduSub project, the companion computer must be a Raspberry Pi 3 model B (not B+) to ensure complete support.

Software

The raspberry Pi need the companion computer image from BlueRobotics. You can find here how to install the latest image.

If you want to use the two additional IMUS, you can use the image aColor-BlueRov2-raspberry-with-server-for-imu-4Gb.img that comes with all dependencies for the ROV and the IMUS.

MavProxy parameters

To run QGroundControl (QGC) and and our scripts, you will need this parameters to set two end points for mavlink stream : 192.168.2.255:14550 (QGC) and 192.168.2.1:14560(ROS bridge)

Here is the parameters to past in the file mavproxy.param in /home/pi of companion computer

--master=/dev/autopilot,115200
--load-module='GPSInput,DepthOutput'
--source-system=200
--cmd="set heartbeat 0"
--out udpin:localhost:9000
--out udpbcast:192.168.2.255:14550
--out udpbcast:192.168.2.1:14560
--mav20
--aircraft telemetry
--streamrate -1

To access the file without open the BlueRov2 you can power and connect the ROV to the topside computer and use the web interface : http://192.168.2.2:2770/mavproxy

Internal Raspberry Pi system

Processes running

At the start of the Raspberry Pi, few processes started : MAVproxy, a server for IMUs, processes for web interface.

Access internal system

SSH

You can access Raspberry Pi internal system via SSH. There is no graphical desktop everything must be done by command line or by the companion Web interface.

ssh pi@192.168.2.2

The password is companion.

Companion Web interface

Companion computer hosts a web interface with useful different pages for accessing parameters and functionalities associated with Companion computer. See https://www.ardusub.com/operators-manual/companion-web.html

More information

See https://www.ardusub.com